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<title>setConstraint</title>
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<h1 class="reftitle">setConstraint</h1>
<h2>Purpose</h2>
<p>Adds a polyhedral constraint</p>
<h2>Syntax</h2>
<pre class="synopsis"></pre>
<h2>Description</h2>
<p></p> 
    This filter adds polyhedral constraints <img src="../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint1.png" alt="../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint1.png"> for all
    <img src="../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint2.png" alt="../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint2.png"> to the MPC setup. The filter can be
    applied to arbitrary signals, be it state, input, or output
    variables.<br><br>

    Note, however, that adding this filter to a state variable will
    NOT add the constraint on the final predicted state (only
    quantities on prediction steps <img src="../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint3.png" alt="../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint3.png"> are
    affected by this filter). To add a polyhedral terminal state
    constraint, use the <tt>terminalSet</tt> filter (see "<tt>help
    SystemSignal/filter_terminalSet</tt>").<br><br>

    To enable the filter, first use
    <tt>model.x.with('setConstraint')</tt> (you can replace the
    <tt>x</tt> signal by any other signal of the prediction model).<br><br>

    The polyhedron <img src="../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint4.png" alt="../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint4.png"> of the new constraint <img src="../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint5.png" alt="../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint5.png"> can
    then be specified in the <tt>setConstraint</tt> property of the
    signal:<br><br>

    
      <tt>model.x.setConstraint = Polyhedron(...)</tt>
      <br><br>
    
    To remove this filter, call <tt>model.x.without('setConstraint')</tt>.
  <p></p>
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<br><p>©  <b>2003-2013</b>     Michal Kvasnica: STU Bratislava,    <a href="mailto:michal.kvasnica@stuba.sk">michal.kvasnica@stuba.sk</a></p>
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